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Refactor and try to reduce confusion from parameter naming

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This commit is contained in:
Emma Broman
2021-06-09 11:43:06 +02:00
parent 1d54a00a25
commit 5f17e05dd1
3 changed files with 31 additions and 31 deletions
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40
modules/autonavigation/path.cpp
View File

@@ -114,22 +114,22 @@ double Path::speedAtTime(double time) const {
}
CameraPose Path::interpolatedPose(double distance) const {
double u = distance / pathLength();
const double relativeDistance = distance / pathLength();
CameraPose cs;
cs.position = _curve->positionAt(u);
cs.rotation = interpolateRotation(u);
cs.position = _curve->positionAt(distance);
cs.rotation = interpolateRotation(relativeDistance);
return cs;
}
glm::dquat Path::interpolateRotation(double u) const {
glm::dquat Path::interpolateRotation(double t) const {
switch (_curveType) {
case CurveType::AvoidCollision:
case CurveType::Linear:
return interpolation::easedSlerp(_start.rotation(), _end.rotation(), u);
return interpolation::easedSlerp(_start.rotation(), _end.rotation(), t);
case CurveType::ZoomOutOverview:
{
const double u1 = 0.2;
const double u2 = 0.8;
const double t1 = 0.2;
const double t2 = 0.8;
const glm::dvec3 startPos = _curve->positionAt(0.0);
const glm::dvec3 endPos = _curve->positionAt(1.0);
@@ -137,39 +137,39 @@ glm::dquat Path::interpolateRotation(double u) const {
const glm::dvec3 endNodePos = _end.node()->worldPosition();
glm::dvec3 lookAtPos;
if (u < u1) {
if (t < t1) {
// Compute a position in front of the camera at the start orientation
const double inFrontDistance = glm::distance(startPos, startNodePos);
const glm::dvec3 viewDir = helpers::viewDirection(_start.rotation());
const glm::dvec3 inFrontOfStart = startPos + inFrontDistance * viewDir;
double uScaled = ghoul::cubicEaseInOut(u / u1);
const double tScaled = ghoul::cubicEaseInOut(t / t1);
lookAtPos =
ghoul::interpolateLinear(uScaled, inFrontOfStart, startNodePos);
ghoul::interpolateLinear(tScaled, inFrontOfStart, startNodePos);
}
else if (u <= u2) {
double uScaled = ghoul::cubicEaseInOut((u - u1) / (u2 - u1));
lookAtPos = ghoul::interpolateLinear(uScaled, startNodePos, endNodePos);
else if (t <= t2) {
const double tScaled = ghoul::cubicEaseInOut((t - t1) / (t2 - t1));
lookAtPos = ghoul::interpolateLinear(tScaled, startNodePos, endNodePos);
}
else if (u2 < u) {
else if (t2 < t) {
// Compute a position in front of the camera at the end orientation
const double inFrontDistance = glm::distance(endPos, endNodePos);
const glm::dvec3 viewDir = helpers::viewDirection(_end.rotation());
const glm::dvec3 inFrontOfEnd = endPos + inFrontDistance * viewDir;
double uScaled = ghoul::cubicEaseInOut((u - u2) / (1.0 - u2));
lookAtPos = ghoul::interpolateLinear(uScaled, endNodePos, inFrontOfEnd);
const double tScaled = ghoul::cubicEaseInOut((t - t2) / (1.0 - t2));
lookAtPos = ghoul::interpolateLinear(tScaled, endNodePos, inFrontOfEnd);
}
// Handle up vector separately
glm::dvec3 startUp = _start.rotation() * glm::dvec3(0.0, 1.0, 0.0);
glm::dvec3 endUp = _end.rotation() * glm::dvec3(0.0, 1.0, 0.0);
double uUp = helpers::shiftAndScale(u, u1, u2);
uUp = ghoul::sineEaseInOut(uUp);
glm::dvec3 up = ghoul::interpolateLinear(uUp, startUp, endUp);
double tUp = helpers::shiftAndScale(t, t1, t2);
tUp = ghoul::sineEaseInOut(tUp);
glm::dvec3 up = ghoul::interpolateLinear(tUp, startUp, endUp);
return helpers::lookAtQuaternion(_curve->positionAt(u), lookAtPos, up);
return helpers::lookAtQuaternion(_curve->positionAt(t), lookAtPos, up);
}
default:
throw ghoul::MissingCaseException();

18
modules/autonavigation/pathcurve.cpp
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@@ -45,8 +45,8 @@ const double PathCurve::length() const {
return _totalLength;
}
glm::dvec3 PathCurve::positionAt(double relativeLength) {
double u = curveParameter(relativeLength * _totalLength);
glm::dvec3 PathCurve::positionAt(double length) {
const double u = curveParameter(length);
return interpolate(u);
}
@@ -58,7 +58,7 @@ double PathCurve::curveParameter(double s) {
if (s >= _totalLength) return 1.0;
unsigned int segmentIndex = 1;
while (s > _arcLengthSums[segmentIndex]) {
while (s > _lengthSums[segmentIndex]) {
segmentIndex++;
}
@@ -93,7 +93,7 @@ void PathCurve::initializeParameterData() {
ghoul_assert(_nSegments > 0, "Cannot have a curve with zero segments!");
_curveParameterSteps.clear();
_arcLengthSums.clear();
_lengthSums.clear();
_parameterSamples.clear();
// Evenly space out parameter intervals
@@ -106,22 +106,22 @@ void PathCurve::initializeParameterData() {
_curveParameterSteps.push_back(1.0);
// Arc lengths
_arcLengthSums.reserve(_nSegments + 1);
_arcLengthSums.push_back(0.0);
_lengthSums.reserve(_nSegments + 1);
_lengthSums.push_back(0.0);
for (unsigned int i = 1; i <= _nSegments; i++) {
double u = _curveParameterSteps[i];
double uPrev = _curveParameterSteps[i - 1];
double length = arcLength(uPrev, u);
_arcLengthSums.push_back(_arcLengthSums[i - 1] + length);
_lengthSums.push_back(_lengthSums[i - 1] + length);
}
_totalLength = _arcLengthSums.back();
_totalLength = _lengthSums.back();
// Compute a map of arc lengths s and curve parameters u, for reparameterization
_parameterSamples.reserve(NrSamplesPerSegment * _nSegments + 1);
const double uStep = 1.0 / (_nSegments * NrSamplesPerSegment);
for (unsigned int i = 0; i < _nSegments; i++) {
double uStart = _curveParameterSteps[i];
double sStart = _arcLengthSums[i];
double sStart = _lengthSums[i];
for (int j = 0; j < NrSamplesPerSegment; ++j) {
double u = uStart + j * uStep;
double s = sStart + arcLength(uStart, u);

4
modules/autonavigation/pathcurve.h
View File

@@ -36,7 +36,7 @@ public:
virtual ~PathCurve() = 0;
const double length() const;
glm::dvec3 positionAt(double relativeLength);
glm::dvec3 positionAt(double length);
// Compute curve parameter u that matches the input arc length s
double curveParameter(double s);
@@ -58,7 +58,7 @@ protected:
unsigned int _nSegments;
std::vector<double> _curveParameterSteps; // per segment
std::vector<double> _arcLengthSums; // per segment
std::vector<double> _lengthSums; // per segment
double _totalLength;
struct ParameterPair {